Integrating a PDDL-Based Planner and a PLEXIL-Executor into the Ptinto Robot Pablo Mu˜ noz 1 , Mar´ ıa D. R-Moreno 1 , and Bonifacio Casta˜ no 2 1 Departamento de Autom´ atica, Universidad de Alcal´a 28805 Alcal´ a de Henares (Madrid), Spain {pmunoz,mdolores}@aut.uah.es 2 Departamento de Matem´ aticas, Universidad de Alcal´a 28805 Alcal´ a de Henares (Madrid), Spain bonifacio.castano@uah.es Abstract. Ptinto is a prototype of a hexapod robot for exploration tasks in rocky and cumbersome areas. The main objective of this prototype is to design and test a complex kinematic control system, including both new hardware and software technologies. In this paper we describe the autonomous architecture that we have developed for the control of the system. We use a deliberator that must be able to make a safe trajectory between two or more points avoiding obstacles. When a trajectory has been created, the executive takes this plan to control Ptinto via the hardware abstraction layer. This is a clas- sical 3T architecture implementation with two general purpose systems: a PDDL planner as the deliberator, and a PLEXIL executor. Keywords: Autonomous agents, intelligent system, planning and schedu- ling, intelligent execution, robotics. 1 Introduction Since the born of robotics to the present-day there has been a continuous progress in software implementation and new hardware architectures. This progress im- plies, for instance, that most of the production chains in industry are robotized. In addition to that, there are several robots exploring our Solar System as well. In the last decade we can emphasize some examples such as the NASA Mars Exploration Rovers (MER) [1, 2]. This project was launched in 2003 and, with 90 days of lifetime in Mars, it is currently operative. 1 In the same way, the software to control these complex hardware systems has made a great progress towards more autonomous and reliable systems. Al- though exploration robots are tele-operated and have a minimum degree of autonomy, there are several systems as: Intelligent Distributed Execution Archi- tecture (IDEA) [3], Teleo-Reactive EXecutive (T-Rex) [4] or LAAS [5] focused on making full autonomous control architectures. 1 http://marsrover.nasa.gov/home/index.html N. Garc´ ıa-Pedrajas et al. (Eds.): IEA/AIE 2010, Part I, LNAI 6096, pp. 72–81, 2010. c  Springer-Verlag Berlin Heidelberg 2010